#ifndef	KINEMATIC_MODEL_TYPES_H
#define KINEMATIC_MODEL_TYPES_H
#include "Point.h"

typedef struct {

	bool reachable;

	double teta1;
	double teta2;
	double teta3;


} invKinResult;

typedef struct {

	Point shoulder;
	Point elbow;
	Point wrist;
	Point handCenter;
	Point graspingPoint1;
	Point graspingPoint2;
	Point fingerPoint1;
	Point fingerPoint2;


} dirKinResult;

#endif